CN109229157A - A kind of rolling stock positioning system - Google Patents
A kind of rolling stock positioning system Download PDFInfo
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- CN109229157A CN109229157A CN201810974507.5A CN201810974507A CN109229157A CN 109229157 A CN109229157 A CN 109229157A CN 201810974507 A CN201810974507 A CN 201810974507A CN 109229157 A CN109229157 A CN 109229157A
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- Prior art keywords
- distance
- rolling stock
- rangefinder
- reference point
- information
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L25/00—Recording or indicating positions or identities of vehicles or vehicle trains or setting of track apparatus
- B61L25/02—Indicating or recording positions or identities of vehicles or vehicle trains
- B61L25/026—Relative localisation, e.g. using odometer
Abstract
The present invention provides a kind of rolling stock positioning system, system includes: Train number recognition subsystem, for the information of vehicles of each rolling stock obtained to be sent to Monitor And Control Subsystem；First distance is sent to Monitor And Control Subsystem for detecting first distance by the rangefinder in station track route one end；Second distance is sent to Monitor And Control Subsystem for detecting second distance by the rangefinder in the station track route other end；Monitor And Control Subsystem, for utilizing information to be monitored, determine the full-length of object to be positioned, based on full-length, first distance and second distance, calculate the railway mileage coordinate of object to be positioned, complete the positioning to object to be positioned, wherein information to be monitored is by the identical each information of vehicles integration gained of detection time in information of vehicles.Using the embodiment of the present invention, the positioning accuracy to object to be positioned is improved.
Description
Technical field
The present invention relates to passive vehicle positioning technology field more particularly to a kind of rolling stock positioning systems.
Background technique
Railway transportation is that a kind of means of transportation of cargo is transported using railroad train, its main feature is that upwards of movement is big, speed is fast,
Cost is relatively low.Railway transportation type can be divided into carload freight, part-load traffic and three kinds of Container Transport.Wherein, using packaging
Case means of transportation, it is possible to reduce the loss and loss of cargo guarantee shipping mass, are the important directions of cargo transport development.
During Container Transport, need to carry out handling operation to container, in order to realize the automation of handling operation,
It needs to be accurately positioned the rolling stock for loading container.Due to load container rolling stock be one it is passive,
And the object that can be moved, therefore need to position it using rolling stock positioning system.
Currently, rolling stock positioning system mostly uses greatly track circuit localization method, but this method can only be oriented
Track section where rolling stock, so specific location of the rolling stock on this section of track section can not be oriented, therefore error
Range is larger, and positioning accuracy is lower.It is therefore desirable to design a kind of new rolling stock positioning system, to overcome the above problem.
Summary of the invention
It is an object of the invention to overcome the defect of the prior art, a kind of rolling stock positioning system is provided, to realize
Improve positioning accuracy.
The present invention is implemented as follows:
The present invention provides a kind of rolling stock positioning system, and system includes Monitor And Control Subsystem, Train number recognition subsystem and survey
Distance meter, wherein the Train number recognition subsystem includes license number ground identification equipment, and rolling stock runs/rest against station track route
On, the both ends of the station track route are equipped with rangefinder and license number ground identification equipment,
The Train number recognition subsystem, for obtaining the vehicle letter for passing through each rolling stock of license number ground identification equipment
Breath, is sent to Monitor And Control Subsystem for the information of vehicles of each rolling stock obtained；The information of vehicles includes detection time；
Rangefinder in station track route one end, for detecting the object to be positioned rested against on the station track route
The first distance is sent to described close to the distance between one end of the rangefinder and the rangefinder as first distance
Monitor And Control Subsystem；Rangefinder in the station track route other end, for detecting the object to be positioned rested against on the route of station track
The second distance is sent to the monitoring subsystem as second distance by the distance between other end and the rangefinder of body
System；
The Monitor And Control Subsystem determines the full-length of object to be positioned, base for utilizing information to be monitored obtained
In the full-length, the first distance and the second distance, the railway mileage coordinate of object to be positioned, completion pair are calculated
The positioning of object to be positioned, wherein the information to be monitored is integrated by the identical each information of vehicles of detection time in information of vehicles
Gained.
Optionally, the system also includes stations to show cart subsystem, and the Train number recognition subsystem will be obtained each
The information of vehicles of rolling stock is sent to Monitor And Control Subsystem, specifically:
The information of vehicles of each rolling stock obtained is sent to station and shows cart subsystem, so that the station shows vehicle
Subsystem integrates the identical each information of vehicles of detection time in information of vehicles obtained, obtains information to be monitored, and
The information to be monitored is sent to Monitor And Control Subsystem.
Optionally, the information of vehicles further includes license number, when the information to be monitored only includes a license number, it is described to
Positioning object is the single rolling stock with license number in the information to be monitored, when the information to be monitored includes multiple license numbers
When, the object to be positioned is the railway train being collectively formed by multiple rolling stocks with license number in the information to be monitored
Vehicle.
Optionally, the Monitor And Control Subsystem utilizes information to be monitored, determines the full-length of object to be positioned, specifically:
When the information to be monitored only includes a license number, by the single railway with license number in the information to be monitored
The full-length of vehicle is determined as the full-length of object to be positioned；
When the information to be monitored includes multiple license numbers, multiple railways with license number in the information to be monitored are obtained
The full-length of vehicle calculates the summation of each full-length, the full-length as object to be positioned.
Optionally, station track route both ends are equipped with reference point, and the rangefinder is set to station track route both ends
On the outside of reference point, the outside is the side far from station, when the object to be positioned is railroad train, the monitoring subsystem
System is based on the full-length, the first distance and the second distance, calculates the railway mileage coordinate of object to be positioned, complete
The positioning of pairs of object to be positioned, specifically:
The distance between two rangefinders for being in station track route both ends are obtained, as third distance, and at acquisition
In the railway mileage coordinate of two reference points at station track route both ends；
It calculates the third distance and subtracts the remaining value that the first distance subtracts the second distance again, obtain to be positioned
The physical length of object；
Using the physical length and the full-length, the amendment for calculating each rolling stock in the railroad train is long
Degree；
For each rolling stock in the railroad train, railway mileage coordinate based on described two reference points and should
The amendment length of rolling stock calculates the railway mileage coordinate of the rolling stock；Each railway in calculating the railroad train
After the railway mileage coordinate of vehicle, the positioning to object to be positioned is completed.
Optionally, the information to be monitored further include in the railroad train each rolling stock put in order, it is described
Monitor And Control Subsystem calculates the amendment length of each rolling stock in the railroad train using following formula:
Li '=li+ Δ ε；
Wherein, li ' characterization is in the amendment length of the rolling stock of the headstock rear i-th bit of the railroad train, li table
The full-length of the rolling stock of headstock rear i-th bit of the sign in the railroad train, Δ ε characterize correction amount, and L1 characterizes institute
The physical length of railroad train is stated, L2 characterizes the full-length of the railroad train, and lt characterizes the full-length of the headstock, n
Characterize the sum of the rolling stock in the railroad train in addition to headstock.
Optionally, when the headstock in railroad train is close to the first rangefinder, the first distance is the railroad train
Headstock and the distance between first rangefinder, the second distance is the tailstock and the second rangefinder of the railroad train
The distance between, wherein first rangefinder is the rangefinder close to the first reference point, and the second rangefinder is close to the second ginseng
The rangefinder of examination point, the first reference point and the second reference point are respectively railway mileage coordinate the greater and iron in two reference points
Road mileage coordinate smaller, the Monitor And Control Subsystem are based on described two ginsengs for each rolling stock in the railroad train
The railway mileage coordinate of examination point and the amendment length of the rolling stock calculate the railway mileage coordinate of the rolling stock, specifically
Are as follows:
Obtain the distance between first reference point and the first rangefinder and second reference point and the second ranging
The distance between instrument；The distance between the rolling stock and headstock and the distance between the rolling stock and the tailstock are calculated, point
Not as the first following distance of the rolling stock and the second following distance, and following formula is used, calculates the railway of the rolling stock
Mileage coordinate:
D1=LT-r1；D2=LW-r2；
X1=M1-d1-D1；X2=M2+d2+D2；
X=(x1+x2)/2；
Wherein, d1 characterize the distance between headstock and the first reference point, d2 characterization the tailstock and the second reference point between away from
From LT and LW characterize the first distance and the second distance respectively, and r1 characterizes first reference point and the first rangefinder
The distance between, r2 characterizes the distance between second reference point and second rangefinder, D1And D2The rolling stock is characterized respectively
The first following distance and the second following distance, M1 and M2 characterize the railway mileage coordinate and the second reference point of the first reference point respectively
Railway mileage coordinate, x characterizes the railway mileage coordinate of the rolling stock, and x1 and x2 characterize the first iron of the rolling stock respectively
Road mileage coordinate and the second railway mileage coordinate.
Optionally, the Monitor And Control Subsystem calculates the first following distance and the second following distance using following formula:
Wherein, D1iAnd D2iThe first following distance and the second following distance of rolling stock of the characterization in headstock rear i-th bit,
Lt characterizes the full-length of headstock, and lr ' characterization is in the amendment length of the rolling stock at r, headstock rear, and n characterizes the iron
The sum of rolling stock in the train of road in addition to headstock.
Optionally, the license number ground identification equipment is set on the outside of the reference point at station track route both ends, the survey
Distance meter is set on the outside of the license number ground identification equipment at station track route both ends, and the outside is the side far from station.
Optionally, station track route both ends are equipped with reference point, and the rangefinder is set to station track route both ends
On the outside of reference point, the outside is the side far from station, when the object to be positioned is single rolling stock, described first
Distance is the distance between one end of the single rolling stock and described first rangefinder, and the second distance is described single
The distance between the other end of rolling stock and the second rangefinder, wherein first rangefinder is close to the first reference point
Rangefinder, the second rangefinder are the rangefinder close to the second reference point, and the first reference point and the second reference point are respectively two ginsengs
Railway mileage coordinate the greater and railway mileage coordinate smaller in examination point, it is long that the Monitor And Control Subsystem is based on the standard
Degree, the first distance and the second distance calculate the railway mileage coordinate of object to be positioned, complete to object to be positioned
Positioning, specifically:
Obtain the distance between railway mileage coordinate, first reference point and the first rangefinder of described two reference points
And the distance between second reference point and the second rangefinder；By following formula, the single rolling stock is calculated
Railway mileage coordinate:
D1=LT-r1；D2=LW-r2；
X3=M1-d1；X4=M2+d2；
X '=(x3+x4)/2；
Wherein, d1 characterizes the distance between the single rolling stock and first reference point, and d2 characterizes the single railway
The distance between vehicle and the second reference point, LT and LW characterize the first distance and the second distance respectively, and r1 characterizes institute
State the distance between the first reference point and the first rangefinder, r2 characterize between second reference point and the second rangefinder away from
From M1 and M2 characterize the railway mileage coordinate of the first reference point and the railway mileage coordinate of the second reference point, x ' characterization institute respectively
The railway mileage coordinate of single rolling stock is stated, x3 and x4 characterize the first railway mileage coordinate of the single rolling stock respectively
With the second railway mileage coordinate.
Optionally, the Monitor And Control Subsystem is also used to:
After the railway mileage coordinate for calculating object to be positioned, the railway mileage coordinate of object to be positioned is converted into geography
Coordinate.
The invention has the following advantages: can obtain using technical solution provided in an embodiment of the present invention by vehicle
The information of vehicles of each rolling stock of number ground identification equipment, and detection time in information of vehicles obtained is identical each
Information of vehicles is integrated, and is obtained information to be monitored, and then utilize information to be monitored, is determined the full-length of object to be positioned,
Based on full-length, first distance and second distance, the railway mileage coordinate of object to be positioned is calculated, is completed to object to be positioned
Positioning.Since full-length, first distance and second distance are occurrences relevant to object space to be positioned, therefore, meter
The railway mileage coordinate of the object to be positioned calculated is also occurrence, to improve the positioning accuracy to object to be positioned.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is a kind of structural schematic diagram of rolling stock positioning system provided in an embodiment of the present invention；
Fig. 2 is a kind of application scenarios schematic diagram using rolling stock positioning system provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram using the physical length provided in an embodiment of the present invention for calculating object to be positioned.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
To solve prior art problem, the embodiment of the invention provides a kind of rolling stock positioning systems.Below to this hair
A kind of rolling stock positioning system provided by bright is illustrated.
Referring to Fig. 1, Fig. 1 is a kind of rolling stock positioning system provided in an embodiment of the present invention, and system includes monitoring subsystem
System, Train number recognition subsystem and rangefinder, wherein the Train number recognition subsystem includes license number ground identification equipment, railcar
It running/rests against on the route of station track, the both ends of the station track route are equipped with rangefinder and license number ground identification equipment,
The Train number recognition subsystem, for obtaining the vehicle letter for passing through each rolling stock of license number ground identification equipment
Breath, is sent to Monitor And Control Subsystem for the information of vehicles of each rolling stock obtained；The information of vehicles includes detection time；
Rangefinder in station track route one end, for detecting the object to be positioned rested against on the station track route
The first distance is sent to described close to the distance between one end of the rangefinder and the rangefinder as first distance
Monitor And Control Subsystem；Rangefinder in the station track route other end, for detecting the object to be positioned rested against on the route of station track
The second distance is sent to the monitoring subsystem as second distance by the distance between other end and the rangefinder of body
System；
The Monitor And Control Subsystem determines the full-length of object to be positioned, base for utilizing information to be monitored obtained
In the full-length, the first distance and the second distance, the railway mileage coordinate of object to be positioned, completion pair are calculated
The positioning of object to be positioned, wherein the information to be monitored is integrated by the identical each information of vehicles of detection time in information of vehicles
Gained.
Electronic tag can be installed on rolling stock, electronic tag can be used for unique identification rolling stock, in order to just
It can be installed in the electronic tag of the identification to rolling stock, rolling stock in bottom margin.Electronic tag can be by micro-strip
Antenna, virtual power supply, reflecting modulator, encoder, microprocessor and memory composition can be obtained by identifying electronic tag
To the information such as the vehicle model of rolling stock and license number.
This system can be applied to station, and station may include district station, marshalling yard, large freight delivery stations and divisional station etc.,
Station can be equipped with one or more station track route, and station track route can be divided into hair line, classification track, loading and unloading track etc..Per one
License number ground identification equipment and rangefinder can be set in the both ends of road route, and license number ground identification equipment and rangefinder can be set
It is placed on the route of station track, also can be set by the route of station track；In order to avoid the influence to driving vehicle, the identification of license number ground is set
Standby and rangefinder can be set by the route of station track.Each station track route is corresponding, and there are two license number ground identification equipment and two
Rangefinder, a personal share road route corresponding two license number ground identification equipment can be used for acquiring to travel on the station track route
The information of vehicles of rolling stock, corresponding two rangefinders of a personal share road route, which can be used for acquiring, rests against the station track route
The distance between rolling stock and two rangefinders identify that the number of equipment can determine that the license number ground is known by license number ground
The number of station track route locating for other equipment rolling stock collected, vice versa；One rangefinder can also be with a station track
Route is corresponding, to can determine the volume of station track route locating for rolling stock measured by the rangefinder as the number of rangefinder
Number, vice versa.Rolling stock can be to be existed in the form of bicycle, is also possible to some rolling stock in railroad train.Railway
Train can also be referred to as railway car team.
License number ground identification equipment can by be mounted between the route of station track ground-plane antenna, wheel detector and be mounted on spy
RF (Radio Frequency, radio frequency) microwave radio device, reading computer (industrial personal computer) etc. for surveying computer room form, license number
The electronic tag that identification equipment in face can install the rolling stock by it is accurately identified and can acquire the iron
Vehicle, license number and the traffic direction of road vehicles, and detection time is recorded, and the railway to enter the station can be determined by traffic direction
Vehicle, outbound rolling stock and each rolling stock put in order, and are set with the license number ground identification for acquiring the rolling stock
Standby number determines the number of station track route locating for rolling stock, each in single rolling stock/railroad train so as to obtain
The information of vehicles of rolling stock, the process for realizing system as subsequent positioning rolling stock provide accurate, real-time basis
Information.
System can also include video acquisition subsystem, and video acquisition system can be by optical-fibre channel, pylon, Image Acquisition
The equipment compositions such as equipment, license number ground identification equipment, intelligent lamp control.Whole day may be implemented using image capture device to supervise in real time
Control can clearly acquire the Vehicular behavior of each monitoring point round the clock, and can be by optical-fibre channel by the image/video of acquisition
Data transmission can acquire equipment using high-definition image to provide the clarity of video image, to pass through to Monitor And Control Subsystem
Monitor And Control Subsystem can clearly observe the intact degree of compartment door and window, and can readily identify the complete of tarpaulin, top cover and rope
Whole and bundle status.And monitoring point can be rationally disposed, to guarantee monitoring area all standing, non-blind area.
Rangefinder can be one-dimensional laser range finder, or one-dimensional radar range finder can also have for other and survey
Instrument away from function.One-dimensional laser range finder (Laser rangefinder) is some parameter realization pair using modulation laser
The instrument of the range measurement of target has the advantages that light-weight, small in size, easy to operate speed is fast and accurate.One-dimensional radar is surveyed
The state parameters such as distance meter can use distance of the electromagnetic wave measuring in relation to target, operation side is asked, speed.Rangefinder can be set in
The outside of station track route both ends reference point (starting point), reference point can be with are as follows: one of semaphore, fouling post, insulation joint etc..
Monitor And Control Subsystem can integrate the identical each information of vehicles of information of vehicles detection time obtained, thus
Obtain information to be monitored；Alternatively, system further includes that station shows cart subsystem, the Train number recognition subsystem in a kind of implementation
The information of vehicles of each rolling stock obtained is sent to Monitor And Control Subsystem by system, specifically:
The information of vehicles of each rolling stock obtained is sent to station and shows cart subsystem, so that the station shows vehicle
Subsystem integrates the identical each information of vehicles of detection time in information of vehicles obtained, obtains information to be monitored, and
The information to be monitored is sent to Monitor And Control Subsystem.
To which Monitor And Control Subsystem can obtain the information to be monitored that station shows cart subsystem transmission.
It is interfered to reduce rangefinder and license number ground identification equipment to the operation of railroad train/single rolling stock, such as
Shown in Fig. 2, license number ground identification equipment is set on the outside of the semaphore at station track route both ends, and the rangefinder is set to institute
It states on the outside of the license number ground identification equipment at station track route both ends, the outside is the side far from station.In Fig. 2,101 indicate to survey
Distance meter, 102 indicate that license number ground identifies equipment, and 103 indicate station track route, and 104 expression track switches turn line, and 105 indicate semaphore,
106 indicate headstock, and 107 indicate rolling stock, and 108 indicate that gantry crane, 1081 expression gantry cranes walk line.
Rangefinder is static fixed straight line rangefinder, and rangefinder can be rested against to be positioned on the route of station track with real-time detection
The distance between object and the rangefinder.When object to be positioned enters the detection zone of rangefinder, each station track route is corresponding
Two rangefinders can respectively to the both ends of object to be positioned emit laser/electromagnetic wave, according to reflected laser/electromagnetism
Wave, each rangefinder can detecte object to be positioned close to the distance between one end of the rangefinder and the rangefinder, Jin Erke
To obtain first distance and second distance, if object to be positioned is still being run, the distance that rangefinder measures is in variable condition；
If object to be positioned rests against the linear section of station track route, the distance that rangefinder measures is in whithin a period of time stablizes shape
State, then the first distance for being in stable state and second distance can be sent to Monitor And Control Subsystem by rangefinder.
Alternatively, in one implementation, object to be positioned can show cart subsystem to station and send parking after coming to a complete stop
Signal, stop sign may include the station track number of the stopped station track route of object to be positioned, so that station shows cart subsystem
Corresponding two rangefinders being numbered to the station track and sending enabling signal, in turn, each rangefinder is receiving enabling signal
Afterwards, start to detect the distance between object to be positioned and the rangefinder on station track route corresponding to the rangefinder.
Swing lift operation needs to unload in the container that destination is this station, the non-arrival our station packaging in destination
Case is retained on rolling stock, and rolling stock can load container and run on the route of station track as a supporting body, each
Rolling stock is identified with license number in advance, therefore, the license number of the rolling stock of the case number (CN) and loading of the container container can
To be associated in advance, it is, can be loaded by the case number (CN) of container during swing lift operation
The license number of the rolling stock of the container, since rolling stock is passive object in the state of non-train, itself is not positioned
With information exchange ability, it is, existing swing lift operation can not obtain the location information of rolling stock, therefore can be with
Positioning of the rolling stock positioning system provided through the invention to the rolling stock, so as to obtain stopping for the rolling stock
Position is stayed, the container automatic handling operation to rolling stock is realized, has saved container automatic duration of handling.
Information of vehicles may include the traffic direction of rolling stock, detection time, the volume of station track route locating for rolling stock
Number, vehicle model, license number, marshalling put in order.Traffic direction can be divided into enter the station direction and outbound direction, rolling stock
Detection time is that license number ground identifies that equipment detects the time of the rolling stock, due to all rolling stocks in railroad train
It is continuous close connection, the detection time of each rolling stock differs very little, can be ignored, therefore can consider in railroad train
All rolling stocks detection time it is identical.Marshalling puts in order can be suitable for the arrangement of each rolling stock in railroad train
The number of sequence, station track route is used for unique identification station track route.
Station shows cart subsystem and integrates the identical each information of vehicles of information of vehicles detection time obtained, obtains
Information to be monitored.Information to be monitored can only include station track line locating for each rolling stock in single rolling stock/railroad train
Road puts in order and license number, alternatively, information to be monitored may be all rolling stocks in single rolling stock/railroad train
Information of vehicles；Object to be positioned both can be single rolling stock, or railroad train.
When the information to be monitored only includes a license number, the object to be positioned is in the information to be monitored
The single rolling stock of license number, when the information to be monitored includes multiple license numbers, the object to be positioned is described by having
The railroad train that multiple rolling stocks of license number are collectively formed in information to be monitored is needed when object to be positioned is railroad train
Each rolling stock in railroad train is positioned.
When rolling stock individually when driving, can be called and shunt or locomotive, when multiple rolling stocks are with railroad train
When driving, the rolling stock of headstock position is not used in loading container to form in railroad train, and is used to draw other dresses
The rolling stock traveling for carrying container, can be called traction locomotive or headstock, and the tailstock is that rearmost position is in railroad train
Rolling stock.
In a kind of implementation, the Monitor And Control Subsystem utilizes information to be monitored, determines the full-length of object to be positioned,
Specifically:
When the information to be monitored only includes a license number, by the single railway with license number in the information to be monitored
The full-length of vehicle is determined as the full-length of object to be positioned；
When the information to be monitored includes multiple license numbers, multiple railways with license number in the information to be monitored are obtained
The full-length of vehicle calculates the summation of each full-length, the full-length as object to be positioned.
Different model, the full-length of rolling stock of different license number may be the same or different, and Monitor And Control Subsystem can
The full-length and its corresponding license number of the rolling stock of all models is stored in advance, so as to utilize letter to be monitored
Breath, determines the license number of object to be positioned, and then can obtain the full-length of the corresponding rolling stock of the license number.If letter to be monitored
Full-length with the single rolling stock of license number in information to be monitored is determined as object to be positioned by only one license number in breath
The full-length of body；If there are multiple license numbers in information to be monitored, the full-length of the corresponding each rolling stock of each license number is calculated
The sum of, the full-length as object to be positioned.
Specifically, station track route both ends are equipped with reference point, rangefinder is set on the outside of the reference point at station track route both ends, outside
Side is the side far from station, and when the object to be positioned is railroad train, it is long that the Monitor And Control Subsystem is based on the standard
Degree, the first distance and the second distance calculate the railway mileage coordinate of object to be positioned, complete to object to be positioned
Positioning, specifically:
The distance between two rangefinders for being in station track route both ends are obtained, as third distance, and at acquisition
In the railway mileage coordinate of two reference points at station track route both ends；
It calculates the third distance and subtracts the remaining value that the first distance subtracts the second distance again, obtain to be positioned
The physical length of object；
Using the physical length and the full-length, the amendment for calculating each rolling stock in the railroad train is long
Degree；
For each rolling stock in the railroad train, railway mileage coordinate based on described two reference points and should
The amendment length of rolling stock calculates the railway mileage coordinate of the rolling stock；Each railway in calculating the railroad train
After the railway mileage coordinate of vehicle, the positioning to object to be positioned is completed.
The yard electronic map at station can be stored in advance in Monitor And Control Subsystem, and yard electronic map contains the various of station
The railway mileage coordinate of atural object graph data (such as channel, culvert, bridge, overline bridge), the respectively equipment on the route of station track is (accidentally
Difference is Centimeter Level, meter level etc.), affiliated facility and station track route, track switch turn line, semaphore, insulation joint, fouling post, car bumper and
The position of the equipment such as measurement point, rangefinder locating for the other associated property datas of platform, license number ground identification equipment, and can be with
Reference point is predefined, reference point can be in one in the equipment on the route of station track for semaphore, insulation joint, fouling post etc.
Kind.To which Monitor And Control Subsystem can obtain the railway mileage coordinate of pre-stored reference point, and can obtain out station track route
The distance between corresponding two rangefinders, as third distance.
The expression formula that Monitor And Control Subsystem calculates the physical length of railroad train can be with are as follows: L1=LZ-LT-LW, wherein L1 table
The physical length of the railroad train is levied, LZ indicates third distance, and LT and LW respectively indicate first distance and second distance, specifically
Schematic diagram is as shown in figure 3, in Fig. 3, and 101 indicate rangefinder, and 102 indicate that license number ground identifies equipment, and 105 indicate semaphore.
In a kind of implementation, the information to be monitored further includes that the arrangement of each rolling stock in the railroad train is suitable
Sequence, the Monitor And Control Subsystem calculate the amendment length of each rolling stock in the railroad train using following formula:
Li '=li+ Δ ε；
Wherein, li ' characterization is in the amendment length of the rolling stock of the headstock rear i-th bit of the railroad train, li table
The full-length of the rolling stock of headstock rear i-th bit of the sign in the railroad train, Δ ε characterize correction amount, and L1 characterizes institute
The physical length of railroad train is stated, L2 characterizes the full-length of the railroad train, and lt characterizes the full-length of the headstock, n
Characterize the sum of the rolling stock in the railroad train in addition to headstock.
Each rolling stock is connected by hitch in railroad train, and hitch has buffering and Telescopic, and railroad train is squeezing
When state and tensional state, the measurement length on the inside of hitch is varied compared with full-length, this variation limits known to one
Range processed.Specifically, it is believed that railroad train is in tensional state as L1 > L2；When measurement length L1 < computational length
L2, railroad train are in compressive state；When measurement length L1=computational length L2 (or difference is within the scope of allowable error), iron
Road train is in normal condition.
All rolling stocks in the railroad train on tested station track route that Monitor And Control Subsystem is provided according to information to be monitored
It model, license number and puts in order, inquires the full-length li of the full-length lt of headstock and the rolling stock of headstock rear i-th bit
(i=1,2,3 ... n), to calculate the full-length of the railroad train stopped on tested station track route
In order to improve positioning accuracy, the difference of physical length and full-length can be calculated, obtains error in length, and will
Error in length shares out equally all rolling stocks to measurement range, and obtain each rolling stock shares error, to repair
Just positioning accuracy.
The amendment length of railway mileage coordinate and rolling stock of the Monitor And Control Subsystem based on two reference points, can calculate
Out in railroad train each rolling stock railway mileage coordinate.
Specifically, the railway mileage coordinate of rolling stock can be sat for the railway mileage of the geometric center point of rolling stock
Mark.In one implementation, specific as shown in figure 3, in Fig. 3, when the headstock in railroad train is close to the first rangefinder, institute
First distance is stated as the distance between the headstock of the railroad train and described first rangefinder, the second distance is the iron
The distance between the tailstock of road train and the second rangefinder, wherein first rangefinder is the ranging close to the first reference point
Instrument, the second rangefinder are the rangefinder close to the second reference point, and the first reference point and the second reference point are respectively two reference points
In railway mileage coordinate the greater and railway mileage coordinate smaller, the Monitor And Control Subsystem is for every in the railroad train
One rolling stock, the amendment length of railway mileage coordinate and the rolling stock based on described two reference points, calculates the iron
The railway mileage coordinate of road vehicles, specifically:
It obtains between the distance between the first reference point and the first rangefinder and the second reference point and the second rangefinder
Distance；The distance between the rolling stock and headstock and the distance between the rolling stock and the tailstock are calculated, respectively as this
The first following distance and the second following distance of rolling stock, and following formula is used, calculate the railway mileage coordinate of the rolling stock:
D1=LT-r1；D2=LW-r2；
X1=M1-d1-D1；X2=M2+d2+D2；
X=(x1+x2)/2；
Wherein, d1 characterize the distance between headstock and the first reference point, d2 characterization the tailstock and the second reference point between away from
From LT and LW characterize the first distance and the second distance respectively, and r1 characterizes first reference point and the first rangefinder
The distance between, r2 characterizes the distance between second reference point and second rangefinder, D1And D2The rolling stock is characterized respectively
The first following distance and the second following distance, M1 and M2 characterize the railway mileage coordinate and the second reference point of the first reference point respectively
Railway mileage coordinate, x characterizes the railway mileage coordinate of the rolling stock, and x1 and x2 characterize the first iron of the rolling stock respectively
Road mileage coordinate and the second railway mileage coordinate.
It is believed that x1 is railway mileage coordinate of the rolling stock close to the first reference point side, x2 is that rolling stock leans on
The railway mileage coordinate of nearly second reference point side.
Certainly, in other implementations, the railway mileage coordinate of rolling stock can not also be the geometry of rolling stock
The railway mileage coordinate of central point, designer can be previously set according to demand in the second railway mileage coordinate and the first railway
Journey sits target weight factor, and then is weighted summation to the second railway mileage coordinate and the first railway mileage coordinate, and will add
Railway mileage coordinate of the result of summation as the rolling stock is weighed, the sum of two weight factors can be 1.
The railway mileage coordinate of rolling stock can also be the railway mileage coordinate at the rolling stock both ends, such as railcar
The first railway mileage coordinate and/or the second railway mileage coordinate.
Monitor And Control Subsystem obtains the distance between the first reference point and the first rangefinder and the second reference point and surveys with second
The mode of the distance between distance meter can be with are as follows: directly obtains the distance between the first reference point and first rangefinder of itself storage
And second the distance between reference point and the second rangefinder；Or, or: the first rangefinder is resulting by real-time measurement
The distance between first reference point and the first rangefinder are sent to Monitor And Control Subsystem, and the second rangefinder is by real-time measurement resulting
The distance between two reference points and the second rangefinder are sent to Monitor And Control Subsystem, so that Monitor And Control Subsystem receives to obtain the first reference
The distance between point and the first rangefinder and the distance between the second reference point and the second rangefinder.
Specifically, the Monitor And Control Subsystem calculates the first following distance and the second following distance using following formula:
Wherein, D1iAnd D2iThe first following distance and the second following distance of rolling stock of the characterization in headstock rear i-th bit,
Lt characterizes the full-length of the headstock, and lr ' characterization is in the amendment length of the rolling stock at r, headstock rear, and n characterizes institute
State the sum of the rolling stock in railroad train in addition to headstock.
In another implementation, when the headstock in railroad train is far from the first rangefinder, the first distance is
The distance between the tailstock of the railroad train and first rangefinder, the second distance are the headstock of the railroad train
The distance between second rangefinder, the Monitor And Control Subsystem is for each rolling stock in the railroad train, based on described
The railway mileage coordinate of two reference points and the amendment length of the rolling stock, the railway mileage for calculating the rolling stock are sat
Mark, specifically:
Obtain the distance between first reference point and the first rangefinder and second reference point and the second ranging
The distance between instrument；The distance between the rolling stock and headstock and the distance between the rolling stock and the tailstock are calculated, point
Not as the first following distance of the rolling stock and the second following distance, and following formula is used, calculates the railway of the rolling stock
Mileage coordinate:
D1=LT-r1；D2=LW-r2；
X1=M1-d1-D2；X2=M2+d2+D1；
X=(x1+x2)/2；
Wherein, d1 characterize the distance between headstock and the first reference point, d2 characterization the tailstock and the second reference point between away from
From LT and LW characterize the first distance and the second distance respectively, and r1 characterizes first reference point and the first rangefinder
The distance between, r2 characterizes the distance between second reference point and second rangefinder, D1And D2The rolling stock is characterized respectively
The first following distance and the second following distance, M1 and M2 characterize the railway mileage coordinate and the second reference point of the first reference point respectively
Railway mileage coordinate, x characterizes the railway mileage coordinate of the rolling stock, and x1 and x2 characterize the first iron of the rolling stock respectively
Road mileage coordinate and the second railway mileage coordinate.
In another implementation, when the object to be positioned is single rolling stock, the first distance is institute
One end and the distance between first rangefinder of single rolling stock are stated, the second distance is the single rolling stock
The other end and the distance between the second rangefinder, the Monitor And Control Subsystem be based on the full-length, the first distance and
The second distance calculates the railway mileage coordinate of object to be positioned, completes the positioning to object to be positioned, specifically:
Obtain the distance between railway mileage coordinate, first reference point and the first rangefinder of described two reference points
And the distance between second reference point and the second rangefinder；By following formula, the single rolling stock is calculated
Railway mileage coordinate:
D1=LT-r1；D2=LW-r2；
X3=M1-d1；X4=M2+d2；
X '=(x3+x4)/2；
Wherein, d1 characterizes the distance between the single rolling stock and first reference point, and d2 characterizes the single railway
The distance between vehicle and the second reference point, LT and LW characterize the first distance and the second distance respectively, and r1 characterizes institute
State the distance between the first reference point and the first rangefinder, r2 characterize between second reference point and the second rangefinder away from
From M1 and M2 characterize the railway mileage coordinate of the first reference point and the railway mileage coordinate of the second reference point, x ' characterization institute respectively
The railway mileage coordinate of single rolling stock is stated, x3 and x4 characterize the first railway mileage coordinate of the single rolling stock respectively
With the second railway mileage coordinate.
It is understood that when object to be positioned is single rolling stock, can not standard to object to be positioned it is long
Degree is modified, and the railway mileage coordinate of rolling stock may be the railway mileage coordinate of the geometric center point of rolling stock,
It is thus possible to calculate the first railway mileage coordinate of the single rolling stock and the average value of the second railway mileage coordinate, make
For the railway mileage coordinate of the single rolling stock；In other implementations, the railway mileage coordinate of rolling stock can also
With for the railway mileage coordinate of the geometric center point of rolling stock, the second railway can be previously set in designer according to demand
The weight factor of mileage coordinate and the first railway mileage coordinate, and then to the second railway mileage coordinate and the first railway mileage coordinate
Be weighted summation, and using the result of weighted sum as the railway mileage coordinate of single rolling stock, two weight factors it
With can be 1.
As it can be seen that can obtain using technical solution provided in an embodiment of the present invention by the every of license number ground identification equipment
The information of vehicles of one rolling stock, and the identical each information of vehicles of detection time in information of vehicles obtained is integrated,
Information to be monitored is obtained, and then utilizes information to be monitored, determines the full-length of object to be positioned, is based on full-length, first
Distance and second distance calculate the railway mileage coordinate of object to be positioned, complete the positioning to object to be positioned.Since standard is long
Degree, first distance and second distance are occurrences relevant to object space to be positioned, therefore, calculated object to be positioned
Railway mileage coordinate is also occurrence, to improve the positioning accuracy to object to be positioned.
In a kind of implementation, Monitor And Control Subsystem is also used to after the railway mileage coordinate for calculating object to be positioned, is passed through
The railway mileage coordinate of object to be positioned is converted to ground by electronic map or other coordinate transformation algorithms inside monitoring subsystem
Coordinate is managed, geographical coordinate can be GPS (Global Positioning System, global positioning system) coordinate, Beidou coordinate
Deng to obtain the license number of each rolling stock on tested station track route, put in order, the information such as exact position.
Further, Monitor And Control Subsystem, will after the accurate position coordinates for obtaining rolling stock corresponding to each license number
The accurate position coordinates of all rolling stocks form one group of data information in one column railroad train, and it is automatic to be uploaded to railway station
Disguise unloading system, the container automatic handling operation so as to railway station automated handling system to rolling stock is saved
Container automatic duration of handling.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (11)
1. a kind of rolling stock positioning system, which is characterized in that system includes Monitor And Control Subsystem, Train number recognition subsystem and ranging
Instrument, wherein the Train number recognition subsystem includes license number ground identification equipment, and rolling stock is run/rested against on the route of station track,
The both ends of the station track route are equipped with rangefinder and license number ground identification equipment,
The Train number recognition subsystem, for obtaining the information of vehicles for passing through each rolling stock of license number ground identification equipment,
The information of vehicles of each rolling stock obtained is sent to Monitor And Control Subsystem；The information of vehicles includes detection time；
Rangefinder in station track route one end, it is close for detecting the object to be positioned rested against on the station track route
The first distance is sent to the monitoring as first distance by the distance between one end of the rangefinder and the rangefinder
Subsystem；Rangefinder in the station track route other end, for detecting the object to be positioned rested against on the route of station track
The second distance is sent to the Monitor And Control Subsystem as second distance by the distance between the other end and the rangefinder；
The Monitor And Control Subsystem determines the full-length of object to be positioned, is based on institute for utilizing information to be monitored obtained
Full-length, the first distance and the second distance are stated, the railway mileage coordinate of object to be positioned is calculated, is completed to undetermined
The positioning of position object, wherein the information to be monitored is by the identical each information of vehicles integration gained of detection time in information of vehicles.
2. system according to claim 1, which is characterized in that the system also includes stations to show cart subsystem, the vehicle
The information of vehicles of each rolling stock obtained is sent to Monitor And Control Subsystem by number recognition subsystem, specifically:
The information of vehicles of each rolling stock obtained is sent to station and shows cart subsystem, so that the station shows car system
System integrates the identical each information of vehicles of detection time in information of vehicles obtained, obtains information to be monitored, and by institute
It states information to be monitored and is sent to Monitor And Control Subsystem.
3. system according to claim 1, which is characterized in that the information of vehicles further includes license number, when described to be monitored
When information only includes a license number, the object to be positioned is the single rolling stock with license number in the information to be monitored,
When the information to be monitored includes multiple license numbers, the object to be positioned be by in the information to be monitored license number it is more
The railroad train that a rolling stock is collectively formed.
4. system according to claim 3, which is characterized in that the Monitor And Control Subsystem utilize information to be monitored, determine to
The full-length of object is positioned, specifically:
When the information to be monitored only includes a license number, by the single rolling stock with license number in the information to be monitored
Full-length be determined as the full-length of object to be positioned；
When the information to be monitored includes multiple license numbers, multiple rolling stocks with license number in the information to be monitored are obtained
Full-length, calculate the summation of each full-length, the full-length as object to be positioned.
5. system according to claim 3, which is characterized in that station track route both ends are equipped with reference point, the ranging
Instrument is set on the outside of the reference point at station track route both ends, and the outside is the side far from station, when the object to be positioned
When body is railroad train, the Monitor And Control Subsystem is based on the full-length, the first distance and the second distance, calculates
The railway mileage coordinate of object to be positioned completes the positioning to object to be positioned, specifically:
The distance between two rangefinders for being in station track route both ends are obtained, as third distance, and obtains and is in institute
State the railway mileage coordinate of two reference points at station track route both ends；
It calculates the third distance and subtracts the remaining value that the first distance subtracts the second distance again, obtain object to be positioned
Physical length；
Using the physical length and the full-length, the amendment length of each rolling stock in the railroad train is calculated；
For each rolling stock in the railroad train, railway mileage coordinate and the railway based on described two reference points
The amendment length of vehicle calculates the railway mileage coordinate of the rolling stock；Each rolling stock in calculating the railroad train
Railway mileage coordinate after, complete positioning to object to be positioned.
6. system according to claim 5, which is characterized in that the information to be monitored further includes every in the railroad train
One rolling stock puts in order, and the Monitor And Control Subsystem calculates each rolling stock in the railroad train using following formula
Amendment length:
Li '=li+ Δ ε；
Wherein, li ' characterization is in the amendment length of the rolling stock of the headstock rear i-th bit of the railroad train, at li characterization
In the full-length of the rolling stock of the headstock rear i-th bit of the railroad train, Δ ε characterizes correction amount, and L1 characterizes the iron
The physical length of road train, L2 characterize the full-length of the railroad train, and lt characterizes the full-length of the headstock, n characterization
The sum of rolling stock in the railroad train in addition to headstock.
7. system according to claim 5, which is characterized in that when the headstock in railroad train is close to the first rangefinder,
The first distance is the distance between the headstock of the railroad train and described first rangefinder, and the second distance is described
The distance between the tailstock of railroad train and the second rangefinder, wherein first rangefinder is the survey close to the first reference point
Distance meter, the second rangefinder are the rangefinder close to the second reference point, and first reference point and second reference point are respectively
Railway mileage coordinate the greater and railway mileage coordinate smaller in two reference points, the Monitor And Control Subsystem are directed to the iron
The amendment of each rolling stock in the train of road, railway mileage coordinate and the rolling stock based on described two reference points is long
Degree, calculates the railway mileage coordinate of the rolling stock, specifically:
Obtain the distance between first reference point and the first rangefinder and second reference point and the second rangefinder it
Between distance；The distance between the rolling stock and headstock and the distance between the rolling stock and the tailstock are calculated, is made respectively
For the first following distance and the second following distance of the rolling stock, and following formula is used, calculates the railway mileage of the rolling stock
Coordinate:
D1=LT-r1；D2=LW-r2；
X1=M1-d1-D1；X2=M2+d2+D2；
X=(x1+x2)/2；
Wherein, d1 characterizes the distance between headstock and the first reference point, and d2 characterizes the distance between the tailstock and the second reference point, LT
Characterize the first distance and the second distance respectively with LW, r1 is characterized between first reference point and the first rangefinder
Distance, r2 characterize the distance between second reference point and second rangefinder, D1And D2The first of the rolling stock is characterized respectively
Following distance and the second following distance, M1 and M2 characterize the railway mileage coordinate of the first reference point and the railway of the second reference point respectively
Mileage coordinate, x characterize the railway mileage coordinate of the rolling stock, and x1 and x2 characterize the first railway mileage of the rolling stock respectively
Coordinate and the second railway mileage coordinate.
8. system according to claim 7, which is characterized in that the Monitor And Control Subsystem calculates the first vehicle using following formula
Spacing and the second following distance:
Wherein, D1iAnd D2iThe first following distance and the second following distance of rolling stock of the characterization in headstock rear i-th bit, lt characterization
The full-length of headstock, lr ' characterization are in the amendment length of the rolling stock at r, headstock rear, and n characterizes the railroad train
In rolling stock in addition to headstock sum.
9. system according to claim 1, which is characterized in that the license number ground identification equipment is set to the station track line
On the outside of the reference point at road both ends, the rangefinder is set on the outside of the license number ground identification equipment at station track route both ends, institute
Outside is stated as the side far from station.
10. system according to claim 1, which is characterized in that station track route both ends are equipped with reference point, the ranging
Instrument is set on the outside of the reference point at station track route both ends, and the outside is the side far from station, when the object to be positioned
When body is single rolling stock, the first distance is between one end and first rangefinder of the single rolling stock
Distance, the second distance are the other end and the distance between second rangefinder of the single rolling stock, wherein described the
One rangefinder is the rangefinder close to the first reference point, and the second rangefinder is the rangefinder close to the second reference point, the first reference
It puts and the second reference point is respectively railway mileage coordinate the greater and the railway mileage coordinate smaller in two reference points, it is described
Monitor And Control Subsystem is based on the full-length, the first distance and the second distance, in the railway for calculating object to be positioned
Journey coordinate completes the positioning to object to be positioned, specifically:
Obtain the distance between railway mileage coordinate, first reference point and first rangefinder of described two reference points and
The distance between second reference point and the second rangefinder；By following formula, the railway of the single rolling stock is calculated
Mileage coordinate:
D1=LT-r1；D2=LW-r2；
X3=M1-d1；X4=M2+d2；
X '=(x3+x4)/2；
Wherein, d1 characterizes the distance between the single rolling stock and first reference point, and d2 characterizes the single rolling stock
The distance between second reference point, LT and LW characterize the first distance and the second distance respectively, r1 characterization described the
The distance between one reference point and the first rangefinder, r2 characterize the distance between second reference point and second rangefinder, M1
Characterize the railway mileage coordinate of the first reference point and the railway mileage coordinate of the second reference point respectively with M2, x ' characterization is described single
The railway mileage coordinate of rolling stock, x3 and x4 characterize the first railway mileage coordinate and second of the single rolling stock respectively
Railway mileage coordinate.
11. system according to claim 1, which is characterized in that the Monitor And Control Subsystem is also used to:
After the railway mileage coordinate for calculating object to be positioned, the railway mileage coordinate of object to be positioned is converted into geographical seat
Mark.
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| CN110758473A (en) * | 2019-10-25 | 2020-02-07 | 中铁武汉勘察设计研究院有限公司 | Tracking and positioning method and system for rail vehicle for molten iron combined transportation |
| CN110803200A (en) * | 2019-11-05 | 2020-02-18 | 武汉市市政建设集团有限公司 | CPIII control point-based track mileage positioning method and device |
| CN112441074A (en) * | 2019-08-28 | 2021-03-05 | 比亚迪股份有限公司 | Parking method and device for rail transit, vehicle and electronic equipment |
| CN113895481A (en) * | 2021-10-26 | 2022-01-07 | 卡斯柯信号有限公司 | Train positioning and tracking management method, equipment and medium based on pattern recognition |
| CN114750805A (en) * | 2022-06-16 | 2022-07-15 | 天津七一二移动通信有限公司 | NFC high-precision positioning method for wireless flat shunting system |
| CN114802358A (en) * | 2022-05-25 | 2022-07-29 | 武汉大学 | Track inspection vehicle positioning method and system based on visual identification |
| CN117125114A (en) * | 2023-08-31 | 2023-11-28 | 西安利雅得电气股份有限公司 | Underground rail locomotive positioning monitoring method and system |
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| CN114750805A (en) * | 2022-06-16 | 2022-07-15 | 天津七一二移动通信有限公司 | NFC high-precision positioning method for wireless flat shunting system |
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